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This thesis presents the development of a novel biologically inspired Micro Aerial Vehicle (MAV) named \textit{BaTboT}, a bat-like robot capable of flapping and actuated morphing wings. The robot morphology is alike in proportion compared to a biological counterpart named \emph{Cynopterus brachyotis}, including mechanical parameters well-suited to be realized with currently available muscle wire actuators (NiTi Shape Memory Alloys -SMAs) allowing for close bio-inspiration of wing actuation. By performing  -\emph{in-vivo}- flights of the C. brachyotis, a significant insight into the understanding of the mechanistic basis of bat flight in terms of kinematics and aerodynamics, gains the inspiration from nature for developing accurate mathematical models that allows to mimic bat locomotion. Using these models, several simulation analysis in terms of how to achieve a typical wing-beat cycle are performed. 

The novelty of the mechatronics design, presents the first bio-inspired bat-like robot conceived for achieving flapping and controlled morphing-wings. In nature, bats can achieve an amazing level of maneuverability by combining flapping and morphing movements. Attempting to reproduce the biological wing actuation system that provides that kind of motions onto an artificial counterpart, requires the analysis of alternative actuation technologies more likely muscle fiber arrays instead of standard servomotor actuators. In order to reproduce the biomechanics of wing morphology, an smart array of SMA wires are used as artificial muscles that respond to an electrical heating current signal. By using the proper mechatronic design, an antagonistic configuration of the SMA-based muscles is proposed to work as the triceps and biceps muscles along the wing skeleton of the bat robot and thus providing wing-joint contraction and extension.

As far as the biomechanics design, the possibility of controlling the morphing wings has great potential for improving existing Micro Aerial Vehicle (MAV) flight in terms of maneuverability. As a whole, the \textit{BaTboT} project consists of four major stages of development:

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\item \textit{in-vivo} quantification of the kinematics complexity of bat flight. 
\item Development of reliable mathematical models for: i) wing kinematics, ii) floating base rigid-body dynamics, iii) wing membrane aerodynamics, and iv) SMA-based actuation thermo-mechanics.
\item Design and fabrication process of: i) skeletal structure of wings and body, ii) biomechanical muscle system for actuation, iii) the wing-membrane, iv) electronics onboard.
\item The Flight controller: i) Morphing control of SMA-muscles, ii) Flapping control of wing motion, and iii) 6-DoF attitude control.
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Each of the aforementioned stages involve several challenges in terms of bio-inspired modeling, design process, and flight control. The approaches addressed to solve those challenges are presented, analyzed and discussed within the
thesis chapters, concluding the document with several experiments of BaTboT performing tethered fight using a wind tunnel facility.

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